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- All Known Implementing Classes:
Epa
public interface MinkowskiPenetrationSolver
Interface representing a sub algorithm for finding the penetration vector and depth using properties of theMinkowskiSum
and theGjk
termination information.This interface is primarily designed to work with
Gjk
.- Since:
- 1.0.0
- Version:
- 1.0.3
- Author:
- William Bittle
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Method Summary
All Methods Instance Methods Abstract Methods Modifier and Type Method Description void
getPenetration(List<Vector2> simplex, MinkowskiSum minkowskiSum, Penetration penetration)
Returns the penetration vector and depth in the givenPenetration
object given the final simplex fromGjk
andMinkowskiSum
.
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Method Detail
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getPenetration
void getPenetration(List<Vector2> simplex, MinkowskiSum minkowskiSum, Penetration penetration)
Returns the penetration vector and depth in the givenPenetration
object given the final simplex fromGjk
andMinkowskiSum
.- Parameters:
simplex
- the simplex containing the originminkowskiSum
- theMinkowskiSum
penetration
- thePenetration
object to fill
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